1. Randy Draeger Grant Stockton David Upp
Mini-Submarine
Randy Draeger
Grant Stockton
David Upp

2. Problem Statement As High School students, we have not
fully investigated or applied the
concepts and applications of electronics,
fluid dynamics, energy systems,
mechanical systems, calculus and
physics in the construction and use of
submersible technologies
Entirely math, physics, and engineering based
Challenging to make all components work in unison
Realistic goal, and submersibles have a place in the modern world

3. Group Development
Randy – Leader due to personal experiences and strong will for the completion of the project
Grant – Scribe due to neat hand writing and attention to detail
David – Time Keeper due to his past experiences with engineering and his ability to accurately a lot time for each task

4. Background
First submarine made by Dutch. Used oars underwater for propulsion
First military submarine was produced by an American
Nicknamed Turtle
Failed during trial run in the civil war
Consequently submarine projects were abandoned until the 20th century
Modified with internal combustion engines, newer ballast control systems, silent propulsion systems, a nuclear missiles

5. Customer
Mr. Pritchard – ITC instructor and will serve as our supervisor
Ms. Brandner – AP Calculus BC instructor and will serve as our mathematical and physics expert

6. Project Scope Research, design and build submersible Deliverables:
Submarine
Final Report
Final PowerPoint Presentation
Consult Experts:
Teachers
Hobby Experts
Hardware Experts
Less than $400

7. Research How does a submarine work?
What materials are submersibles made out of?
How do RC components work underwater?
Ballast Systems
Hull Design
Propulsion Systems

8. How does a submarine work?

9. How does a submarine work?

10. Archimedes’ Principle

11. Free Force Body Diagram
The force of weight is combating the force of buoyancy
Recall as the volume of the object decreases, so does the buoyant force
This allows the force of weight to take a more pronounced effect in bringing the submarine down underwater
When the volume increases, buoyancy becomes stronger, forcing the object towards the surface

12. How is neutral buoyancy obtained?

13. Ballast Systems Gas vs. Piston Lifespan of solutions
Ease of installation and troubleshooting

14. Hull Design Wet vs. Dry Hull
PVC is optimal because it is a polymer / composite with a density near 1 and rather strong

15. Propulsion Propellers attached to waterproof motor
Ranking characteristics for power
Angular frequency
Slant length
Length of blade
Number of blades

16. RC Components Water disrupts radio waves
AM frequency will go down to 20 feet good reception
FM frequency stops at 5 feet
RC frequencies stop around 4 feet underwater
Possibility of extending the receiver wire to the surface in tether cord

17. Criteria Must function underwater Waterproof
Electronic components are protected (safety)
Movement with 3 degrees of Freedom
Ballast System
Maintain Neutral Buoyancy [still and motion]
Diving range 5-10 ft.
Video Feed (optional)
Lighting (optional)

18. Constraints Limited weight due to buoyancy Limited Budgets ($400)
Materials must withstand underwater pressure
All materials must run off the same power source with the voltage drop
Depth is limited to tether line

19. Explore Possibilities
Submarine vs. ROV
Wet vs. Dry Hull
Piston vs. Gas
Remote Control vs. Tether

20. Randy’s Design

21. David’s Design

22. Grant’s design

23. Select an approach Criteria Design 1 (Randy) Design 2 (Grant)
Design 3 (David)
3 degrees of freedom 4 3
Waterproof 5
Camera Feed
Functional (underwater) 1
Diving range below 4 ft.
Electronics protected Y
 Total 14 13 12

24. Initial Design Saddle Ballast Tank Design Solenoid Valves release air
Wanted to keep ballast tanks away from the center hull to keep electronics dry
Middle tube is dry
2 outside tubes are the ballast tanks
Gas powered ballast
Solenoid Valves release air

26. Mathematical Based Design
The ballast tanks must be large enough to change the volume of water displaced to the point that the submarine will sink
Based on our list of materials, and Randy’s design, the mass is estimated to be around 36 pounds or kilograms
The center hull must be four inches with an access port in the middle for electronics, and ballast must be adjusted accordingly

27. Mathematical Based Design
kilograms
Assuming a kilogram mass, the volume must be around liters to be neutrally buoyant (density = 1)
Volume of center hull L
Volume of access port .227 L
Volume of motors .140 L
Volume of solenoid boxes .442 L
Total Volume without ballast tanks is L

28. Mathematical Based Design
Total Volume for neutral buoyancy must be L
Total Volume without ballast tanks is L
Total Volume assuming 4” diameter ballast tanks is L
Total Volume assuming 6” diameter ballast tanks is L
Volume of air in both dust off containers is L
Percentage of ballast tank used assuming 4” ballast is approximately 46% to sink = L of air space
Percentage of ballast tank used assuming 6” ballast is approximately 94% = L of air space

29. Mathematical Based Design
Volume of air in both dust off containers is L
4” Ballast has L of air space
6” Ballast has L of air space
Assuming that the ballast tanks may at one point become 100% full, the air in the dust off containers would not be enough to cause the 4” ballast submarine to surface, and it would forever be sunk
The six inch PVC could resurface if 100% full

30. Prototyping Everything was cut first
Then all the pieces were assembled
Divide and Conquer
Took 1 ½ months for first prototype

31. Assembly

34. Safety Glasses
In the navy

35. Testing Round 1 – March 25, 2011

36. Specs Test Purpose Procedure Expected Results Actual Results
Verify that the submarine is within dimension constraints
Procedure
Measure the length, width, and height
Expected Results
Submarine fits within the required 2’x2’x3’ space
Actual Results
PASS

37. Electrical Safety Test
Purpose
Verify that no electrical current was leaking out into the water. Avoid electrical shock
Procedure
Using a circuit tester, run one end to ground, and test the surfaces of the submarine and tether
Submerge submarine in water, and test water for a current
Expected Results
No electrical leak
Actual Results
Electric wires were fully insulated. No electrical current found
PASS

38. Operational Ballast Test
Purpose
Verify that the submarine can move up and down properly through ballast manipulation
Procedure
Set Submarine in water, and connect wiring
Open solenoid valves and allow sub to sink
Record depth it sank to
Resurface

39. Operational Ballast Test
Expected Results
Sink to a depth of 5-10 feet
Resurface
Actual Results
Did not sink
FAIL

40. Propelled Buoyancy Test
Purpose
Ensure buoyancy system is operational during motion
Procedure
Attain neutral buoyancy
Move in obstacle (cage)
Expected results
Pass with obstacle
Results
Never Sunk

41. Stationary Neutral Buoyancy
Purpose
Verify buoyancy while not moving
Procedure
Attain neutral buoyancy
Measure time at neutrally buoyant
Expected results
Prototype attains neutral buoyancy
Results
Never sunk

42. Three Degrees of Freedom
Purpose
Verify the submarine moves along all three axis’ of motion
Procedure
Submerge
Attain neutral buoyancy
Navigate through obstacle
Perform 360 degree turn
Come back through obstacle
Surface

43. Three Degrees of Freedom
Expected Results
Submerge
Attain neutral buoyancy
Navigate through obstacle
Perform 360 degree turn
Come back through obstacle
Surface
Results
Never sunk

44. Video Feed Purpose Procedure Expected results Results
Check webcam is providing input
Procedure
Plug in webcam
Use geometric shapes to verify input
Expected results
Webcam provides input
Results
Webcam passed the test, but later was damaged by a water leak and no footage was recorded for any test

45. Waterproof Test Purpose Procedure Expected results Results
To test the central hull and ballast tanks for leaks. Avoid electrical damage
Procedure
Hold submarine vertically
Insert into water layer by layer, noting where water leaked
Expected results
No leaks
Results
Leaks occurred around bolts and wires
Silicone did not seal the submarine

46. Test photos

47. Test conclusions Waterproofing Buoyancy Issues
Further Refinements needed

48. Refining Outer Body Waterproofing Center of Buoyancy
Fiber glass shell
Waterproofing
Center of Buoyancy
Added 3.4 pound Weight to Adjust center of mass over center of buoyancy
Web Cam remained ruined
Tether Tension
Top Cap Screw counter twist

49. Further Testing – April 10, 2011

50. Operational Ballast Trial Initial Conditions Met Video Feed Register
Time To Sink (s)
Depth (ft)
Level Submarine
Resurface
Watertight Central Hull
Pass/ Fail 1
Yes
None
741 3 No
Fail 2
747
740

51. Operational Ballast Volume Of Submarine: 41968.25056 mL
Mass Of Submarine: g
Initial Density: kg/L
Initial Buoyancy: N
Density At Submersion: kg/L
Buoyancy At Submersion: N
Change In Volume Through Submersion: L
Change In Buoyancy Through Submersion:
Percent Of Ballast Tanks Filled With Water To Submerge: %

52. Propelled Neutral Buoyancy
Dove underwater but did not attain neutral buoyancy
Inclined dive due to center of mass alignment

53. Stationary Neutral Buoyancy
Dove underwater but did not attain neutral buoyancy
Inclined dive due to center of mass alignment

54. Three Degrees Of Freedom
Dove underwater but did not attain neutral buoyancy
Inclined dive due to center of mass alignment

55. Waterproof Test Purpose Procedure Expected results Results
To test the central hull and ballast tanks for leaks. Avoid electrical damage
Procedure
Hold submarine vertically
Insert into water layer by layer, noting where water leaked
Expected results
No leaks
Results
One leak was found on the viewport

56. Test Conclusions Inclined dive cannot be righted
Still not waterproof although significant improvement shown

57. Refining Epoxy over front porthole for sealing
A 45 pound weight was added to the submarine
Realigns center of mass with center of buoyancy
Drastically alter initial density
Requires less water in ballast system to submerge
Less water weight in the ballast system will stop the system from performing a torque as easily
Faster sink time

58. Final Testing – April 22, 2011

59. Operational Ballast Trial Initial Conditions Met Video Feed Register
Time To Sink (s)
Depth (ft)
Level Submarine
Resurface
Watertight Central Hull
Pass/ Fail 1
Yes
None
293
8.0 No
Part. Pass 2
295 3
290

60. Operational Ballast Volume Of Submarine: 44804.35156 mL
Mass Of Submarine: g
Initial Density: kg/L
Initial Buoyancy: N
Density At Submersion: kg/L
Buoyancy At Submersion: N
Change In Volume Through Submersion: L
Change In Buoyancy Through Submersion:
Percent Of Ballast Tanks Filled With Water To Submerge: %

61. Operational Ballast

62. Operational Ballast

63. Operational Ballast

64. Operational Ballast

65. Propelled Neutral Buoyancy
Dove underwater but did not attain neutral buoyancy
Inclined dive due to center of mass alignment

66. Stationary Neutral Buoyancy
Dove underwater but did not attain neutral buoyancy
Inclined dive due to center of mass alignment

67. Three Degrees Of Freedom
Dove underwater but did not attain neutral buoyancy
Inclined dive due to center of mass alignment

68. Test Conclusions
Adding the weight did not help keep the submarine from inclining
Waterproofing was finally successful
Voltage drop is too great for the receiver extension wire

69. Future refinements Trim tanks Some other form of ascension
Propeller Placement

70. Lessons Learned (Randy)
Unforeseen Problems
Construction
Physics
Importance of calculations

71. Lessons Learned (Grant)
Water can be hard to seal out
Fiberglass is a mess
Dust Off does not taste good
Center of Mass means a lot
Physics does exist
Calculus has a practical application
Remote control can be unpredictable
Spare at least as much time in refinement as you do your original prototype
Do it right the first time

72. Lessons Learned (David)
Water is a challenge
Importance of physics concepts
Do not procrastinate
Calculus has a purpose

73. Summary
The submarine did not achieve all that it was set out to do, but gave it a good shot
Physics and calculus are used before you design something
It can be hard to make all systems run simultaneously
Test for waterproofing by parts not the full submarine at once
This was the most productive and eventful work team and project in the Academy due to our past experiences